JP6667552B2 - Shape maintaining and deployable structure including a pair of continuous robot systems and system with shape maintaining and deployable structure - Google Patents

Description

  The present invention relates to a shape maintaining and deployable probe including a pair of continuous robot systems.

  As is well known, there is a particular need today for deployable structures that can follow curved trajectories. This need is particularly felt, for example, in the biomedical field where it is necessary to be able to follow a curved trajectory in the human body, or in the field of non-contact examinations.

  More particularly, a deployable structure is desired that is operable such that when deployed, the desired trajectory follows the structure body as well as the distal end of the structure. That is, it is desirable that the proximal portion of the deployable structure follow the same trajectory followed by the distal portion first. This ability is commonly referred to as following-the-leader or following the distal end, or maintaining shape or maintaining the distal end trajectory. Further, it is desirable that this follow-the-leader capability is inherent in the deployable structure. That is, it is desirable not to utilize the characteristics of the environment in which the structure operates.

  For example, EP-A-2 446 803 describes an articulated robot type probe which includes first and second mechanisms arranged coaxially, each of which can be oriented in a desired direction. It is possible. Furthermore, each mechanism is provided with a plurality of rigid cylindrical arms interconnected by spherical joints, which are alternately controlled in a rigid first mode as a whole and a second mode in which the arms are mutually movable.

  The robot probe according to EP-A-2 446 803 is essentially a follow-the-leader type, but has a limited ability to faithfully follow a given trajectory due to its articulated type. In addition, when one of the two mechanisms operates in the joint area of the other mechanism, undesirable vibrations occur.

  U.S. Patent Application No. 2001/0053874 discloses an endoscope having a movable distal end and an operating device operably connected to the distal end to operate the distal end. Is described. U.S. Patent Application No. 2011/0295065 describes a segmented device having an elongated body that includes a plurality of connections and a hinge connecting a pair of adjacent connections of the plurality of connections. Have been. Finally, U.S. Patent No. 6,036,636 discloses an endoscope that includes a resilient member that connects a distal end portion of an insert to a proximal end portion of a tip to form a space portion. Is described. A wire extends from the distal end portion to the proximal side of the insertion portion, and is curved in the space portion.

European Patent Application Publication No. 2446803 US Patent Application No. 2001/0053874 US Patent Application No. 2011/0295065 U.S. Pat. No. 6,036,636

  It is therefore an object of the present invention to provide a deployable structure that at least partially overcomes the shortcomings of the known art.

  According to the present invention there is provided a deployable structure as defined in the appended claims.

  For a better understanding of the present invention, its embodiments will now be described purely by way of non-limiting example with reference to the accompanying drawings.

FIG. 2 is a perspective view of a portion of an embodiment of the deployable structure of the present invention. FIG. 2 is a front view of the components of the deployable structure shown in FIG. 1. FIG. 2 is an enlarged perspective view of a portion of the deployable structure of FIG. FIG. 2 is a front view of the components of the deployable structure shown in FIG. 1. FIG. 2 is a front view of the components of the deployable structure shown in FIG. 1. FIG. 2 is a front view of the components of the deployable structure shown in FIG. 1. It is a block diagram which shows the connection between the components of this expandable structure. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 3 is a perspective view of the simplified deployable structure in successive steps of a deployment process. FIG. 11 is a perspective view of a portion of a further embodiment of the present deployable structure.

  FIG. 1 shows a deployable system 1, which includes a deployable probe 2 having first and second robot systems 4, 6, both of a continuous type.

  In particular, the first robotic system 4 comprises a first distal element 12 and at least one first shape locking element 14. The second robotic system 6 comprises a respective distal element 22, hereinafter referred to as a second distal element 22, and at least one respective shape locking element 24, hereinafter referred to as a second shape locking element 24. I have. Without loss of generality, FIG. 1 shows a total of three shape locking elements of the first robot system 4 and two shape locking elements of the second robot system 6. Specifically, the first robot system 4 includes third and fourth shape locking elements 30 and 32 in addition to the first shape locking element 14. Further, the second robot system 6 includes a fifth shape lock element 34 and a sixth shape lock element in addition to the second shape lock element 24. The latter is not visible in FIG. 1 because when the deployable structure 2 is retracted it is housed inside a housing structure 38 adapted to house the first and second robotic systems 4,6. .

  The first robot system 4 further includes a first connection structure 16. This mechanically couples the first distal element 12 to the shape locking element of the first robotic system 4, specifically the first shape locking element 14.

  The first connecting structure 16 comprises first, second and third rods 17, 18, 19, which have a cylindrical shape in the embodiment shown in FIG. The first, second, and third rods 17, 18, 19 each have one end secured to the first distal element 12 and the first, third, and fourth shape locking elements 14, 30. , 32 so as to be either slidable or fixed. This is described in more detail below with particular reference to only the first shape locking element 14 for brevity.

  The second robot system 6 includes a second connection structure 26. This mechanically couples the second distal element 22 to a shape locking element of the second robotic system 6, specifically a second shape locking element 24.

  The second connecting structure 26 comprises fourth, fifth and sixth rods 27, 28, 29, which have a cylindrical shape in the embodiment shown in FIG. The fourth, fifth, and sixth rods 27, 28, 29 are secured at each end to the second distal element 22 and are coupled to the second, fifth, and sixth shape locking elements 24, 34. It is connected so that it is either slidable or fixed relative to it. This is described in more detail below with specific reference to only the second shape locking element 24 for brevity.

  The first robotic system 4 also comprises a first connecting cable 40, which has a separate end secured to the first distal element 12. Further, the first connection cable 40 is fixed to each shape locking element of the first robot system 4. In this regard, in the deployable system 1, the portion of the first connecting cable 40 between the first distal element 12 and the first shape locking element 14 is connected to the adjacent shape lock of the first robotic system 4. In addition to the portion of the first connection cable 40 between the element pairs, they all have the same length Lmax.

  The second robotic system 6 further comprises a second connecting cable 42, which has a separate end secured to the second distal element 22. Further, the second connection cable 42 is fixed to each shape locking element of the second robot system 6. In this regard, in the deployable system 1, the portion of the second connecting cable 42 between the second distal element 22 and the second shape locking element 24 is connected to the adjacent shape lock of the second robot system 6. In addition to the portion of the second connection cable 42 between the element pairs, all have the above-mentioned length Lmax.

  More specifically, the first and second robot systems 4, 6 have respective axes of symmetry, which coincide with each other to form the axis of symmetry H of the deployable structure 2. Furthermore, the first and second robot systems 4, 6 are interlaced with each other. Specifically, along the axis of symmetry H, the first distal element 12, the second distal element 22, the first shape locking element 14, the second shape locking element 24, the third shape locking element The 30, the fifth shape locking element 34, the fourth shape locking element 32, and the sixth shape locking element follow each other in this order.

  Without loss of generality, the shape locking elements of the first and second robot systems 4, 6 are identical. Furthermore, the plurality of shape locking elements of the first robot system 4 and in particular the first shape locking element 14 have the same first orientation with respect to the axis of symmetry H, while the plurality of shape locking elements of the second robot system 6 And in particular the second shape locking element 24 have the same second orientation with respect to the axis of symmetry H. The first and second orientations are 180 ° different from each other. That is, the second shape locking element 24 is offset by an angle of 180 ° with respect to the first shape locking element 14, and as described below, the first, second, third, fourth, and fifth elements. , The sixth rod 17, 18, 19, 27, 28, 29 has a rest state in which it extends linearly. For brevity, only the first shape locking element 14 will be described in detail below.

  As shown in detail in FIGS. 2 and 3, the first shape locking element 14 comprises first and second substructures 44, 46, which are also symmetric about the axis of symmetry H.

  The first substructure 44 comprises first, second and third clamping elements 47, 48, 49, which are of the same shape and form an angle of 120 °, ie a virtual isosceles triangle. Are located at the vertices. Further, the first partial structure 44 includes first, second, and third piezoelectric devices 52, 54, and 56. These are identical to one another and are each operatively connected to first, second and third clamping elements 47,48,49. In this regard, i) a pair composed of the first clamp element 47 and the first piezoelectric device 52, ii) a pair composed of the second clamp element 48 and the second piezoelectric device 54, iii) the third Since the pair of the clamp element 49 and the third piezoelectric device 56 are the same as each other, a detailed description will be given below with reference to only the first clamp element 47.

  The second substructure 46 comprises a central body 60 from which first, second and third arms 62, 64, 66 identical to one another and first, second, third support elements 70 identical to one another. , 72, 74 exit radially, that is, perpendicular to the axis of symmetry H.

  Specifically, the first, second, and third arms 62, 64, 66 are arranged such that adjacent pairs form an angle of 120 °, and the first, second, and third Elements 70, 72, 74 are arranged such that adjacent pairs make an angle of 120 °. Furthermore, the group consisting of the first, second and third support elements 70, 72, 74 is angled relative to the unit consisting of the first, second and third arms 62, 64, 66. There is a 60 ° shift. Thus, the first support element 70 is inserted 60 ° apart between the first and second arms 62, 64 and the second support element 72 is inserted between the second and third arms 64, 66. Finally, the third support element 74 is inserted between the first and third arms 62, 66 at a 60 ° separation.

  The first, second and third support elements 70, 72 and 74 are formed with first, second and third eyelets 80, 82 and 84, respectively, which are equidistant from the axis of symmetry H. . Further, adjacent pairs of eyelets in the first, second, and third eyelets 80, 82, 84 are 120 ° apart from each other in angle. Fourth, fifth, and sixth rods 27, 28, 29 pass through the interior of the first, second, and third eyelets 80, 82, 84, respectively, and these rods slide relative to the corresponding eyelets. It is possible. Accordingly, the first shape-locking element 14 is slidably mechanically connected to the second connection structure 26 and acts as a guide for the movement of the first shape-locking element 14 as described below. Can be.

  Referring again to the first, second, and third clamp elements 47, 48, and 49, the relative connection between the first clamp element 47 and the first rod 17 will now be described as an example. The second and third clamping elements 48, 49 are the same as the first clamping element 47, and the relative arrangement with respect to the second and third rods 18, 19 is similar to that described below.

  In particular, the first clamping element 47 has, in a first approximation, the shape of a hollow right prism, whose axis is parallel to the axis of symmetry H and whose base is in the form of an isosceles triangle with rounded vertices.

  More specifically, the first clamping element 47 includes a first side wall 90 forming the base of the isosceles triangle and a second and third side walls 92 forming the sides of the isosceles triangle. , 94.

The second, third side wall 92 and 94, to respective inner surfaces are joined by a first curved surface S _1, to form a dihedron with rounded one.

Inner surface of the first side wall 90 defining a bottom surface S _b, and the first piezoelectric device 52 resting thereon. Further, first side wall 90 forms first and second shoulders. This defines a first and second side shoulder surface _{S s1, S s2} respectively, are perpendicular to the bottom surface _{S b.} The first piezoelectric device 52 is disposed in direct contact between the first and second side shoulder surfaces S _s1 and S _s2 . That is, the first piezoelectric device 52 is arranged in a kind of hollow portion formed in the first side wall 90.

The second and third side walls 92, 94 are respectively connected to the first and second side shoulder surfaces S _s1 , S _s2 by respective second and third curved surfaces S ₂ , S ₃ having concave surfaces toward the inside. Each is combined.

More specifically, the first clamping element 47 is fixed to the central body 60 in a manner known per se to form a cavity 95. Further, the first piezoelectric device 52 has an elongated shape parallel to the first side wall 90 and directly contacts therewith. In addition, the first piezoelectric device 52 may have the following characteristics: i) the first piezoelectric device 52 is of a first length (measured in its elongation direction), the first length of the first piezoelectric device 52; A rest mode (shown in FIGS. 2 and 3) whose ends are of such a length that they do not touch the second and third curved surfaces S ₂ , S ₃ , and ii) the first piezoelectric device 52 An active mode (not shown) having a second length longer than the length of the first piezoelectric device 52 such that both ends of the first piezoelectric device 52 exert a force on the first and second side shoulder surfaces S _s1 , S _s2 ; Can be electrically controlled to operate alternatively.

As shown in FIG. 3, the first arm 62 has a shape surrounding both the first wall 90 and the first piezoelectric device 52. Further with reference to the symmetry axis H, the first arm 62 is parallel to the symmetry axis H and at a distance above the first piezoelectric device 52 on the first side wall 90 as described above. A support surface 97 is formed. Indeed, the support surface 97 is parallel to the axis of the first clamping element 47, the first curved surface S _1, partition the part of the space of the cavity 95, the first rod 17 therein extending I do. This space portion is hereinafter referred to as an accommodating portion.

More specifically, when the first piezoelectric device 52 is in the rest mode, the distance between the support surface 97 and the first curved surface S _1, the first rod 17 is slidable relative to these surfaces So that the distance is such that it is slidable with respect to the first shape locking element 14. Conversely, when the first piezoelectric device 52 is in the active mode, the distance between the support surface 97 and the first curved surface S1 decreases with respect to the distance in the pause mode. This reduction occurs because the first, second and third side walls 90, 92 and 94 are elastically deformed by the force applied by the first piezoelectric device 52 to the first and second side shoulder surfaces S _s1 and S _s2. It is.

More specifically, when the first piezoelectric device 52 is in the active mode, the support surface 97 and the first curved surface S ₁ exert a force on the first rod 17, and the rod is clamped by the first clamp element 47. Will be done. That is, it is fixed to the clamp element.

  As previously described, the second and third rods 18, 19 are connected to the second and third clamping elements 48 in the same manner as the first rod 17 connects to the first clamping element 47. , 49 respectively. Thus, according to the mode of operation of the second and third piezoelectric devices 54, 56, respectively, the second and third rods 18, 19 slide alternatively on the second and third clamping elements 48, 49, respectively. Or it can be fixed. Furthermore, the second and third clamping elements 48, 49 define corresponding receptacles into which the second and third rods 18, 19 respectively extend.

  The receptacles of the first, second and third clamping elements 47, 48, 49, and thus also the corresponding rods, are also at an equal distance from the axis of symmetry H, and their adjacent pairs (and thus the corresponding ones) Adjacent pairs of rods are also arranged at an angle of 120 ° to each other. Furthermore, angularly first, fourth, second, fifth, third, and sixth rods 17, 27, 18, 28, 19, 29 are sequentially arranged, and furthermore, adjacent rods are angled. 60 ° apart from each other.

  In the following, it is assumed that the first, second, third piezoelectric devices 52, 54, 56 and, more generally, the piezoelectric devices of the first robot system 4 are always controlled to the same operating conditions. You. Therefore, for the sake of brevity, only the operating conditions of the first piezoelectric device 52 will be referenced. Further, an unlocked state indicating a state in which the first connection structure 16 is slidable with respect to the first shape locking element 14, and a state in which the first connection structure 16 is locked with respect to the first shape locking element 14. And therefore unlocked (in a releasable manner) to indicate the latter.

  The central body 60 of the first shape locking element 14 is formed with two working holes 100 of the penetrating type, which can control, for example, the first, second and third piezoelectric devices 52, 54, 56. To accommodate electrical cables (not shown) connected to them.

  The central body 60 is also formed with first and second through holes 102 and 104 of a through type. The pair of working holes 100 and the first and second connection holes 102, 104 preferably extend symmetrically about the axis of symmetry H and parallel to the axis of symmetry.

  A first connecting cable 40 extends inside the first connecting hole 102, which cable is locally fixed to the central body 60 in a manner known per se. That is, the first connection cable 40 is fixed to the central body 60 at at least one point. The first connecting cable 40 cannot therefore slide with respect to the first shape locking element 14.

  The second connection cable 42 extends inside the second connection hole 104, and the second connection cable 42 is not fixed to the central body 60, and thus can slide inside the second connection hole 104. Strictly speaking in this regard, the presence of the first and second connecting cables 40, 42 reduces the symmetry about the symmetry axis H of the deployable structure 2 (which is otherwise perfect). Nevertheless, for clarity, the expression "axis of symmetry" is maintained and is valid in a first approximation. However, a variant in which the first and second connection cables 40, 42 are replaced by a corresponding plurality of connection cables (although neither shown nor described further) and are arranged symmetrically about the axis of symmetry H is possible. For example, it is possible to arrange symmetrically about the axis of symmetry H using three connection cables for each robot system.

  With respect to the second shape locking element 24, as described above, it is the same shape as the first shape locking element 14, but rotated by 180 ° therewith. The second shape locking element 24 is shown in detail in FIG. Here, for the sake of clarity, only some of the parts are indicated by the same reference numerals which have already been used to indicate the corresponding parts of the first shape-locking element 14, unless otherwise indicated.

  More specifically, the three eyelets of the second shape locking element 24 are hereinafter referred to as fourth, fifth, and sixth eyelets, respectively (shown as 180, 182, and 184, respectively). The third rod 19, the first rod 17, and the second rod 18 pass through the fourth, fifth, and sixth small holes 180, 182, and 184, respectively, and these rods slide with respect to the corresponding small holes. It is movable. Thus, the second shape locking element 24 is slidably mechanically connected to the first connection structure 16, which can act as a guide for the movement of the second shape locking element 24 as described below. .

  Further, the first, second, and third clamping elements (denoted by 147, 148, and 149, respectively) of the second shape locking element 24 include a fifth rod 28, a sixth rod 29, and a fourth rod 27. Mechanically coupled with each of the Furthermore, by analogy with those described above with respect to the first shape locking element 14, the fourth, fifth, and sixth rods 27, 28, 29 are connected to the third and first rods of the second shape locking element 24, respectively. , The second piezoelectric device 56, 52, 54, depending on the mode of operation, alternatively sliding or fixing the third, first, second clamping elements 149, 147, 148 of the second shape locking element 24 respectively. It is possible. In the following, the first, second and third piezoelectric devices 52, 54, 56 of the second shape locking element 24 and more generally the piezoelectric device of the second robot system 6 always have the same operating conditions. Is assumed to be controlled. Therefore, for the sake of brevity, only the operating conditions of the first piezoelectric device 52 of the second shape locking element 24 will be referenced. Further, an unlocked state indicating a state in which the second connection structure 26 is slidable with respect to the second shape locking element 24, and the second connection structure 26 is locked by the second shape locking element 24, Thus, reference is made to the latter, a locked state indicating a state fixed (in a releasable manner).

  The second shape locking element 24 also has, inter alia, the above-mentioned first and second connection holes, indicated by 202, 204. The second connection cable 42, which is locally fixed to the second shape locking element 24 in a manner known per se, extends inside the first connection hole 202, so that the second connection cable 42 It cannot slide with respect to the second shape locking element 24.

  The first connection cable 40 extends inside the second connection hole 204 and is slidable inside the second connection hole 204.

  As described above, due to the aforementioned 180 ° shift from the shape of the first and second shape locking elements 14, 24, the deployable structure 2 becomes first, second, third, fourth, fourth. Fifth, the sixth rods 17, 18, 19, 27, 28, 29 allow respective rest states in which they are linear. In this regard, as shown in FIGS. 5 and 6, respectively, the first and second distal elements 12, 22 are adapted to allow the above-described rest state of the deployable structure.

  In particular, the first distal element 12 has first, second and third fixed seats 117, 118, 119 of a known type. The ends of the first, second and third rods 17, 18 and 19 are fixed to the first, second and third fixing seats 117, 118 and 119, respectively, as described above, and these are axes of symmetry H , And adjacent pairs of fixed seats are angularly 120 ° apart. Furthermore, the first distal element 12 comprises a fourth fixing seat 140, at which one end of the first connecting cable 40 is fixed.

  When the deployable structure 2 is at rest, the first, second and third fixed seats 117, 118, 119 engage the first, second, third clamping elements 47 of the first shape locking element 14, Aligned with the corresponding receptacle formed by 48, 49, and furthermore, the fourth fixing seat 140 is aligned with the first connection hole 102 of the first shape locking element 14.

  The second distal element 22 forms fifth, sixth, seventh fixing seats 327, 328, 329, in which corresponding ends of the fourth, fifth, sixth rods 27, 28, 29 Are fixed respectively. In addition, the second distal element 22 comprises seventh, eighth, and ninth eyelets 317, 318, 319, which are equidistant from the axis of symmetry such that adjacent pairs are 120 degrees apart. Are located in The first, second, and third rods 17, 18, and 19 slide inside the seventh, eighth, and ninth small holes 317, 318, and 319, respectively. Thus, the second distal element 22 is slidably mechanically connected to the first connection structure 16, which may act as a guide for the movement of the second distal element 22, as described below. it can.

  Furthermore, the second distal element 22 comprises an eighth fixing seat 342 to which one end of the second connecting cable 42 is fixed, and a further hole 340, hereinafter referred to as a through hole. The first connection cable 40 passes through the through hole 340.

  When the deployable structure 2 is at rest, the seventh, eighth, and ninth eyelets 317, 318, 319 cause the first, second, and third clamping elements 47, 48 of the first shape locking element 14. , 49, respectively. Further, the fifth, sixth, and seventh fixing seats 327, 328, 329 are aligned with the first, second, and third eyelets 80, 82, 84 of the first shape locking element 14, respectively. The through hole 340 and the eighth fixing seat 342 are aligned with the first and second connection holes 102, 104 of the first shape locking element 14, respectively.

  As shown in FIG. 7, the deployable system 1 comprises first and second coupling structures 16, 26 and shape locking elements of the first and second robotic systems 4, 6 (FIG. 7 for simplicity). Only the first and second shape locking elements 14, 24 are shown), and an operating system 500 operatively connected to the first and second connecting cables 40, 42.

  Specifically, the operation system 500 includes the first, second, third, fourth, fifth, and sixth rods 17, 18, 19, 27, 28, 29, and the connection cables 40, 42, respectively. Each can be driven, for example, by a corresponding linear electric motor connected to it. In addition, the operating system 500 can control the state of each shape locking element as described above. To that end, the operating system 500 is electrically connected to the piezoelectric device, for example, by the above-mentioned electrical cable (not shown) extending into the operating hole.

  In the following, it is assumed, as mentioned earlier, that at each moment all the shape locking elements of the first robot system 4 are controlled to the same state (locked / unlocked). Therefore, only the state of the first shape locking element 14 is referred to. Similarly, it is assumed that at each instant all the shape locking elements of the second robot system 6 are controlled to the same state. Therefore, only the state of the second shape locking element 24 is referred to. Further, each rod of each of the first and second coupling structures 16, 26 has a compression resistance that the rods can withstand the forces applied by the operating system 500 to deploy the deployable structure 2. In this regard, each rod of each of the first and second coupling structures 16, 26 can be made of, for example, Nitinol. The first and second cables 40, 42 are adapted to withstand tensile stress, but substantially yield upon compression and bending.

  Hereinafter, with reference to FIGS. 8 to 13, an operation that allows the deployable structure 2 to be deployed will be described. There, the parts of the first and second robot systems 4, 6 have been simplified as compared to those previously described, for the sake of clarity. That is, FIGS. 8 to 13 show a simplified deployable structure simply for explaining the principle of deployment.

  First, as shown in FIG. 8, the first and second robot systems 4 and 6 are arranged inside a housing structure 38. In these conditions, not shown, the second distal element 22 contacts the first distal element 12. Furthermore, the first shape locking element 14 contacts the second shape locking element 24. Further, both the first and second shape locking elements 14, 24 are locked. Moreover, inside the housing structure 38, the first and second robot systems 4, 6 are arranged such that the first and second connecting cables 40, 42 extend.

  Then, as shown in FIG. 9, an operating system 500 unlocks the first shape locking element 14 and moves at least one of the first, second, third rods 17, 18, 19, and At the same time, the first distal element 12 is moved while the second shape locking element 24 remains locked. Thus, the first distal element 12 moves away from the second distal element 22 along a first portion of the desired curved trajectory. More specifically, elastic deformation of the first connection structure 16 occurs under the action of the operation system 500.

  The operating system 500 then locks the first shape locking element 14. The operating system 500 then unlocks the second shape locking element 24 and moves at least one of the fourth, fifth and sixth rods 27, 28, 29 to move the second coupling structure 26. Is elastically deformed, while the first shape locking element 14 remains locked, and the second distal element 22 is moved as shown in FIG. In particular, the operating system 500 is adapted to correspond to a preceding movement of the first coupling structure 16, i.e. the same as the first distal element 12 followed by the second distal element 22 The second coupling structure 26 is operated so as to follow the first part of the track. To that end, the operating system 500 includes: i) an interposition between the first distal element 12 and the first connection structure 16, and ii) an interposition between the second distal element 22 and the second connection structure 26. Take into account the differences between the arrangement. Further, the first coupling structure 16 acts as a guide for the movement of the second distal element 22 such that the first distal element 12 follows a first portion of the same trajectory as the previously followed trajectory. Guarantee to actually follow.

  More specifically, when the first robot system 4 is unlocked, the latter as well as the first connecting structure 16 also have a first rigidity, thereby allowing the first connecting structure 16 to be elastically deformed. . The converse is also true, when the first robotic system 4 is locked, the latter and therefore also the first coupling structure 16 has a second stiffness greater than the first stiffness. This second stiffness is such that the first coupling structure 16 can move the second distal element 22 without movement of the second distal element 22 with a deformation (eg, straightening) of the first coupling structure 16. It is possible to act as a guide for movement.

  The operating system 500 then locks the second shape locking element 24 and unlocks the first shape locking element 14. The operating system 500 then operates the first coupling structure 16 to move the first distal element 12 along a second portion of the desired trajectory. At the same time, the lock of the second shape locking element 24 is maintained. Thus, as shown in FIG. 11, the first distal element 12 moves away from the second distal element 22 again along the second portion of the desired trajectory. More specifically, a new elastic deformation of the first connection structure 16 occurs by the action of the operation system 500. Furthermore, the first connecting cable 40 guides the first distal element 12 to the shape-locking element of the first robotic system 4, in particular the second coupling structure 26, for the first part of the trajectory. The following first shape-locking element 14 is pulled backwards, if necessary, until it contacts the second distal element 22.

  Since the second robot system 6 has the same behavior in terms of stiffness as the first robot system 4, when the second robot system 6 is unlocked, the latter and therefore the second coupling structure 26 are also elastically deformable. It is. The converse is also true, and when the second robotic system 6 is locked, the latter and therefore the second connecting structure 26 will also have a second connecting structure 26 with respect to the movement of the first shape locking element 14. , More generally with respect to the shape-locking element of the first robotic system 4 so as to act as a substantially non-deformable guide.

  The operating system 500 then locks the first shape locking element 14. The operating system 500 then unlocks the second shape locking element 24 and moves at least one of the fourth, fifth and sixth rods 27, 28, 29, while simultaneously The second distal element 22 is moved while the locking element 14 remains locked. Specifically, the operation system 500 operates the second connection structure 26 so as to correspond to the previous operation of the first connection structure 16. That is, the trajectory of the same second portion that the first distal element 12 followed before follows the second distal element 22. At the same time, the second shape locking element 24 is pulled by the second distal element 22 to follow the trajectory of the first part. In this way, the second distal element 22 and the second shape locking element 24 contact the first distal element 12 and the first shape locking element 14, respectively, if necessary, as shown in FIG. Until the movement is guided by the first connecting structure 16.

  The operating system 500 then locks the second shape locking element 24 and unlocks the first shape locking element 14. Then, as shown in FIG. 13, the motion system 500 again moves the first distal element 12 along the third portion of the desired trajectory. The first distal element 12 pulls a first shape-locking element 14 that follows a second part of the track and a third shape-locking element 30 that follows the first part of the track. If necessary, the above operations can be repeated according to the desired track and number of shape locking elements.

  In practice, the first and second robot systems 4, 6 are controlled alternately. Specifically, when the first connection structure 16 is unlocked, the second connection structure 26 is locked, and when the second connection structure 26 is unlocked, the first connection structure 26 is unlocked. The coupling structure 16 is locked.

  To retract the deployable structure 2, the operating system 500 alternately retracts the first and second connecting cables 40,42. Specifically, the robot system deployed last in the deployment step is first contracted. When the robot system retracts, at the same time as each connecting cable retracts, the associated rod can also retract. To that end, the operation system 500 performs the opposite operation of the operation performed in the deployment step. In this regard, as described above, each of the first and second connecting cables 40, 42 operate substantially by traction, pulling the corresponding shape locking element to move the robot system to which it belongs. Any simultaneous retraction of multiple rods causes the trajectory opposite to deployment to follow the distal element, and in the retraction the unlocked robotic system does not disturb the locked system acting as a guide.

  In fact, the first and second robot systems 4, 6 can follow the same trajectory both at the time of deployment and at the time of contraction. Furthermore, although not shown, each distal element and shape locking element of the first and second robotic systems 4, 6 can form one or more working channels in which the deployable system 1 It is possible to slide instruments (not shown), such as optical fibers, that are characteristic of the application designed for the application. For example, when the deployable structure 2 is at rest, each channel is made up of a first distal element 12, a second distal element 22, and a shape-locking element, each of which is sequentially aligned. Can be formed with individual holes.

  According to the variant shown in FIG. 14, the first and second robot systems (denoted by 604 and 606, respectively) are constrained to slide side by side.

  Without loss of generality, the first and second coupling structures (shown at 616 and 626, respectively) each include a pair of rods. That is, there are no third and sixth rods. Further, the rods of the first and second coupling structures 616, 626 include a second rod (shown at 618), a first rod (shown at 617), a fourth rod (shown at 627), a fifth rod (shown at 627). The rods (shown by 628) are arranged in a plane in the order of the rods. FIG. 14 shows first and second distal elements (shown at 612, 622), first and second shape locking elements (shown at 614, 624), and first and second connecting cables (640). , 642) are also shown.

  The first shape locking element 614 is controllably connected to the first connection structure 616, and the first and second rods 617, 618 slide alternatively with respect to the first shape locking element 614. It is possible or fixed to the latter. Similarly, the second shape locking element 624 is controllably connected to the second connection structure 626, and the fourth and fifth rods 627, 628 are alternatives to the second shape locking element 624. Slidable or fixed to the latter.

  The first shape locking element 614 further forms a first connecting seat 680 in the form of a small hole through which the fourth rod 627 slides, and the second shape locking element 624 further has a A second connecting seat 682 is formed in the shape of a small hole in which the first rod 617 slides.

  In fact, when the first robotic system 604 is locked, the stiffness of the first robotic system 604 causes the first rod 617 to act as a substantially non-deformable guide for the movement of the second robotic system 606. As such, similarly, when the second robot system 606 is locked, the fourth rod 627 acts as a substantially non-deformable guide to the movement of the shape locking element of the first robot system 604. .

  The advantages provided by the present deployable structure will be apparent from the foregoing description. Specifically, the deployable structure is essentially a follow-the-leader type. Further, the deployable structure is a continuous type and has no joints. Even a curve having a relatively small radius of curvature can follow a curved trajectory with high accuracy. Also, there is no vibration when the structure is deployed. Furthermore, in each deployment step, the corresponding forward movement of the robot system is not necessarily equal to the predetermined value, but can be changed continuously within the range where the aforementioned length Lmax is the maximum value.

  Furthermore, the use of a symmetrical configuration is advantageous, especially when the first and second robot systems are interlaced. This is because the cross-sectional area of the deployable structure can be reduced, while the bending stiffness of each robot system can be kept the same. Further, the interlaced configuration allows the neutral axes of bending associated with the first and second robotic systems to coincide. In this way, the unlocked robot system can be slid with respect to the locked robot system without significantly disturbing the shape of the locked robot system. Thus, an interlaced configuration can more precisely direct the deployable structure. Further, deployment and recovery of the first and second robot systems are performed based on the same operation pattern.

  Finally, it will be apparent that modifications and variations can be made to the deployable structure without departing from the scope of the invention, which is defined by the appended claims.

  For example, the number of shape locking elements of the first and second robotic systems 4, 6 may differ from those described. The number and shape of rods of the first and second coupling structures 16, 26 may differ from those described.

  The shape, arrangement, and coupling of the first, second, and third clamping elements 47, 48, 49 and the first, second, and third piezoelectric devices 52, 54, 56 are different from those described. You may.

  As for the connection structure, each of them may be constituted by a plurality of rods other than three. For example, if the deployable structure is designed for application in a two-dimensional space rather than a three-dimensional space, each connecting structure may include only two corresponding rods.

  It is also possible to obtain a controlled fixation of the first and second coupling structures 16, 26 to the corresponding shape locking elements without a piezoelectric device. For example, each shape locking element may include a compressed air and / or hydraulic actuator (not shown) to control and secure a corresponding coupling structure. Furthermore, purely by way of example, it is also possible to obtain a controlled fixation by using a part made of a shape memory alloy inside the shape locking element.

Claims (15)

A shape maintaining and deployable structure including a pair of continuous robot systems of a first robot system and a second robot system (4, 6, 604, 606), wherein the first robot system comprises:
A first distal element (12, 612);
At least a first shape locking element (14, 614);
A first coupling structure (16, 616) mechanically coupling the first distal element to the first shape locking element and operable in a first mode of operation and a second mode of operation; When,
With
The second robot system includes:
A second distal element (22, 622);
At least a second shape locking element (24, 624);
A second coupling structure (26, 626) mechanically coupling the second distal element to the second shape locking element and operable in a first mode of operation and a second mode of operation; When,
With
When the first coupling structure operates in the first mode of operation, the first coupling structure is elastically deformable and operable to move the first robot system;
When the first coupling structure operates in the second mode of operation, the first coupling structure forms a guide for the movement of the second robot system;
When the second coupling structure operates in the first mode of operation, the second coupling structure is elastically deformable and operable to move the second robot system;
When operating the second coupling structure in the second mode of operation, the second coupling structure forms a guide for the movement of the first shape locking element ;
The first shape locking element (14) comprises:
A first partial structure (44) coupled to the first coupling structure (16) for being alternatively slidable or fixed with respect to the first coupling structure;
A second partial structure (46) slidably connected to the second connection structure (26);
With
The second shape locking element (24) comprises:
A first partial structure (44) connected to the second connection structure (26) for being slidable or fixed as an alternative to the second connection structure;
A second partial structure (46) slidably connected to the first connection structure;
Comprising a shape maintaining deployable structure. Before SL first robotic system (4,604) has a first stiffness and the second stiffness, the first coupling structure (16,616) of the first operation mode and the second operation When operating in mode, the second stiffness is greater than the first stiffness;
The second robot system (6, 606) has a third stiffness and a fourth stiffness, and the second connection structure (26, 626) has the first operation mode and the second operation mode. The shape-maintaining / deployable structure according to claim 1, wherein the fourth rigidity is greater than the third rigidity when operating at a . Before Stories second stiffness, wherein when the second robotic system (6,606) to movement with respect to said first robotic system (4,604), said first connecting structure (16,616) Is such that it does not substantially deform,
The fourth stiffness is such that the second coupling structure (26, 626) does not substantially deform when the first robot system moves relative to the second robot system. The shape-maintaining and deployable structure according to claim 2 . When the front Symbol first coupling structure (16,616) is operated in the first operation mode, the first coupling structure is slidable relative to the first form-locking element (14,614) Yes,
When the first coupling structure operates in the second mode of operation, the first coupling structure is fixed to the first shape locking element;
When the second coupling structure (26) operates in the first mode of operation, the second coupling structure is slidable with respect to the second shape locking element (24, 624);
Wherein when the second coupling structure is operated in the second operation mode, the second coupling structure is fixed to the second form-locking element, the shape maintenance deployment according to claim 2 or claim 3 Possible structure . Before SL first coupling structure (16,616) comprises a first first number of elongated elements corresponding to the coupling structure (16,616) of (17,18,19,617,618),
The second connection structure (26, 626) includes a second number of elongated elements (27, 28, 29, 627, 628) corresponding to the second connection structure (26, 626); the second number and the first number is 2 or more, respectively, the shape maintenance deployable structure according to any one of claims 1 to 4. Before SL first form-locking element (14) comprises a plurality of separate fixing elements (47, 48, 49), wherein each of the fixed elements of the first form-locking element, said first connecting structure (16 ) Corresponding to said first number of elongate elements (17, 18, 19), said elongate elements being movable with respect to said fixed element or being fixed to said fixed element. Piezoelectric devices (52, 54, 56) controllable to
The second shape locking element (24) comprises a plurality of individual locking elements (147, 148, 149), each of the locking elements of the second shape locking element being connected to the second coupling structure (26). Mechanically coupled to the second number of elongate elements (27, 28, 29) corresponding to the second coupling structure and the elongate element corresponding to the second coupling structure is the second shape locking element. The shape maintenance according to claim 5 , comprising a piezoelectric device (52, 54, 56) movable relative to a fixed element or controllable to be fixed to the fixed element of the second shape locking element. Deployable structure . Before Stories second robotic system (6,606) is at least 1 Tsunisuri of the first said first number of elongated elements of the connecting structure (16,616) of (17,18,19,617) Movably mechanically connected, the first robotic system (4, 604) includes the second number of elongated elements (27, 28, 29,...) Of the second connection structure (26, 626). 627) The shape-maintaining deployable structure according to claim 5 or claim 6 , wherein the structure is slidably mechanically connected to at least one of the at least one of the two . Before SL first form-locking element (14,614) comprises at least one slidably machine of the elongate element of the second coupling structure (26,626) (27,28,29,627) And the second shape locking element (24, 624) is connected to the first number of elongated elements (17, 18, 19, 617) of the first connecting structure (16, 616). The shape-maintaining deployable structure of claim 7 , wherein the structure is slidably mechanically coupled to at least one . Before SL first coupling structure (16,616), the first, second, and third with three elongate elements (17,18,19,617,618), said second connecting structure ( 26,626) includes a fourth, and a fifth, and sixth three elongate elements (27,28,29,627,628) according to any one of claims 5 to claim 8 Shape-maintainable and deployable structure . Said first number of elongated elements before Symbol first connecting structure (16) (17, 18, 19), said first distal element (12) and the first form-locking element (14) Are constrained so as to be symmetrical about the axis (H) and at equal angular intervals,
The second number of elongate elements (27, 28, 29) of the second coupling structure (26) are coupled to the second distal element (22) and the second shape locking element (24). The shape-maintaining / deployable structure according to any one of claims 5 to 9 , wherein the shape-maintaining and deployable structure is symmetrical with respect to the axis and is constrained to be arranged at equal angular intervals . Before Symbol first and second robotic system (4, 6) are arranged coaxially,
The first number of elongate elements (17, 18, 19) of the first coupling structure (16) is coupled to the second number of elongate elements (27, 27) of the second coupling structure (26). The shape-maintaining deployable structure according to claim 10 , wherein the structure is angularly staggered with respect to 28, 29) . Before SL first robotic system (4) has a elongated shape, and operates in traction, and is secured to the first distal element (12) and the first form-locking element (14) A first connecting element (40),
The second robotic system (6) has an elongated shape, operates in traction and is fixed to the second distal element (22) and the first shape locking element (24). was thus provided with a second connecting element (42), the shape maintenance deployable structure according to any one of claims 1 to 11. Before Symbol first and second robotic system (4, 6) are interlaced, the shape maintenance deployable structure according to any one of claims 1 to 12. And shape maintenance deployable structure according to any one of 請 Motomeko 1 to claim 13,
Operating the first connection structure and the second connection structure (16, 26, 616, 626), wherein when the first connection structure operates in the first operation mode, the second connection structure is Operating the first connection structure such that the first connection structure operates in the second operation mode when the second connection structure operates in the second operation mode and the second connection structure operates in the first operation mode; An operating system (500) configured to control the coupling structure and the second coupling element of
System comprising a. Before Symbol Operation System (500) of the first connecting element and the second connecting element (40, 42) according to claim 13 which also are configured to operate, dependent on claim 12 and claim 12 15. The system according to claim 14 , which is dependent on any one of the preceding claims.